Related papers: Adversarial Pursuits in Cislunar Space
We provide, to the best of our knowledge, the first computational study of extensive-form adversarial team games. These games are sequential, zero-sum games in which a team of players, sharing the same utility function, faces an adversary.…
In this paper, we consider the problem of controlling an underactuated system in unknown, and potentially adversarial environments. The emphasis will be on autonomous aerial vehicles, modelled by Dubins dynamics. The proposed control law is…
We model a radar network as an adversarial bandit problem, where the environment pre-selects reward sequences for each of several actions available to the network. This excludes environments which vary rewards in response to the learner's…
Uncrewed Aerial Systems (UASs) have become a growing threat to the security of critical infrastructure, exploiting spatiotemporal gaps in sensor perimeters to infiltrate restricted airspace undetected. We formulate this interaction as a…
We consider a model of two competing microswimming agents engaged in a pursue-evasion task within a low-Reynolds-number environment. Agents can only perform simple maneuvers and sense hydrodynamic disturbances, which provide ambiguous…
Decentralized collaborative simultaneous localization and mapping (C-SLAM) is essential to enable multirobot missions in unknown environments without relying on preexisting localization and communication infrastructure. This technology is…
This study presents a numerical analysis framework for pursuit--evasion differential games under the Stackelberg equilibrium. The Semi-DCNLP method is introduced as an optimization solver for flight path optimization problems formulated…
This paper addresses multi-UAV pursuit-evasion, where a group of drones cooperates to capture a fast evader in a confined environment with obstacles. Existing heuristic algorithms, which simplify the pursuit-evasion problem, often lack…
We consider a sensor-receiver pair communicating over a wireless channel in the presence of a jammer who may launch a denial-of-service attack. We formulate a zero-sum game between a coordinator that jointly designs the transmission and…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
Suppose an escaping player ("human") moves continuously at maximum speed $1$ in the interior of a region, while a pursuing player ("zombie") moves continuously at maximum speed $r$ outside the region. For what $r$ can the first player…
This paper studies, for the first time, the trajectory planning problem in adversarial environments, where the objective is to design the trajectory of a robot to reach a desired final state despite the unknown and arbitrary action of an…
The design of aircraft collision avoidance algorithms is a subtle but important challenge that merits the need for provable safety guarantees. Obtaining such guarantees is nontrivial given the unpredictability of the interplay of the…
With the ever-increasing lunar missions, a growing interest develops in designing data relay satellite constellations for cislunar communications, which is challenged by the constrained visibility and huge distance between the earth and…
This paper proposes a novel mission planning algorithm for autonomous robots that selects an optimal waypoint sequence from a predefined set to maximize total reward while satisfying obstacle avoidance, state, input, derivative, mission…
Surveillance-Evasion (SE) games form an important class of adversarial trajectory-planning problems. We consider time-dependent SE games, in which an Evader is trying to reach its target while minimizing the cumulative exposure to a moving…
This paper demonstrates a novel guidance and control strategy for cislunar near-rectilinear halo orbit formation-keeping applied to high-fidelity dynamics. Bounded relative motion is constructed about long-duration ephemeris trajectories…
The growing interest in cislunar space exploration in recent years has driven an increasing demand for efficient low-thrust missions to key cislunar orbits. These missions, typically possessing long thrust arcs, are particularly susceptible…
In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…
The classical setting of optimal control theory assumes full knowledge of the process dynamics and the costs associated with every control strategy. The problem becomes much harder if the controller only knows a finite set of possible…